Pneumatic exomuscle system and method

ABSTRACT

A pneumatic exomuscle system and methods for manufacturing and using same. The pneumatic exomuscle system includes a pneumatic module; a plurality of pneumatic actuators each operably coupled to the pneumatic module via at least one pneumatic line, a portion of the pneumatic actuators configured to be worn about respective body joints of a user; and a control module operably coupled to the pneumatic module, the control module configured to control the pneumatic module to selectively inflate portions of the pneumatic actuators.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation-in-part of, and claims the benefitof, U.S. non-provisional application Ser. No. 14/577,524 filed Dec. 19,2014, which claims priority to U.S. Provisional Application No.61/918,577, filed Dec. 19, 2013. This application is also related toU.S. Non-Provisional application Ser. No. 14/577,817 filed Dec. 19,2014, which claims the benefit of U.S. Provisional Application No.61/918,578, filed Dec. 19, 2013. Each of these applications is herebyincorporated herein by reference in their entirety for all purposes.

GOVERNMENT LICENSING RIGHTS

This invention was made with government support under Contract NumberW911QX12C0096 awarded by DARPA under the Maximum Mobility andManipulation program. The government has certain rights in theinvention.

BACKGROUND

Systems such as powered exoskeletons include a rigid architecture thatis worn over the body of a user, which is actuated to induce or supportmovement of the user. For example, persons with spinal injuries whocannot control portions of their body are able to enjoy movement withsuch powered exoskeletons. Additionally, able-bodied persons are able toaugment their abilities with the use of powered exoskeletons, includingincreasing walking, running or working endurance and increasing theircapacity to lift or otherwise manipulate heavy objects.

However, powered exoskeletons have numerous drawbacks. For example, suchsystems are extremely heavy because the rigid portions of theexoskeleton are conventionally made of metal and electromotor actuatorsfor each joint are also heavy in addition to the battery pack used topower the actuators. Accordingly, such exoskeletons are inefficientbecause they must be powered to overcome their own substantial weight inaddition the weight of the user and any load that the user may becarrying.

Additionally, conventional exoskeletons are bulky and cumbersome. Therigid metal architecture of the system must extend the length of eachbody limb that will be powered, and this architecture is congenitallylarge because it needs to sufficiently strong to support the body,actuators and other parts of the system in addition to loads carried bythe user. Portably battery packs must also be large to providesufficient power for a suitable user period. Moreover, electromotoractuators are conventionally large as well. Unfortunately, because oftheir large size, conventional exoskeletons cannot be worn under auser's normal clothing and are not comfortable to be worn while notbeing actively used. Accordingly, users must don the exoskeleton eachtime it is being used and then remove it after each use. Unfortunately,donning and removing an exoskeleton is typically a cumbersome andtime-consuming process. Conventional exoskeletons are therefore notdesirable for short and frequent uses.

Additionally, because of their rigid nature, conventional exoskeletonsare not comfortable and ergonomic for users and do not provide forcomplex movements. For example, given their rigid structure,conventional exoskeletons do not provide for the complex translationaland rotational movements of the human body, and only provide for basichinge-like movements. The movements possible with conventionalexoskeletons are therefore limited. Moreover, conventional exoskeletonstypically do not share the same rotational and translational axes of thehuman body, which generates discomfort for users and can lead to jointdamage where exoskeleton use is prolonged.

In view of the foregoing, a need exists for an improved exomuscle systemand method in an effort to overcome the aforementioned obstacles anddeficiencies of conventional exoskeleton systems.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is an exemplary side view of an exomuscle top-suit being worn bya user and illustrating an embodiment of a pneumatic exomuscle system.

FIG. 2 is an exemplary side view of an exomuscle leg-suit worn by a userand illustrating another embodiment of a pneumatic exomuscle system.

FIG. 3a is an exemplary perspective drawing illustrating an embodimentof an actuator, where the actuator is inflated.

FIG. 3b is an exemplary perspective drawing illustrating the actuator ofFIG. 3a , where the actuator is deflated.

FIG. 4a is an exemplary perspective drawing illustrating anotherembodiment of an actuator, where the actuator is inflated.

FIG. 4b is an exemplary perspective drawing illustrating the actuator ofFIG. 4a , where a portion of the actuator is deflated.

FIG. 5a is a cross-sectional drawing of an embodiment of ananterior-knee actuator positioned on the knee of a user.

FIG. 5b is another cross-sectional drawing of the anterior-knee actuatorpositioned on the knee of a user as shown in FIG. 5 a.

FIG. 5c is a further cross-sectional drawing of the anterior-kneeactuator positioned on the knee of a user as shown in FIG. 5 a.

FIG. 6a is a cross-sectional drawing of an embodiment of an elbowactuator positioned on the elbow of a user, wherein the actuator isdeflated.

FIG. 6b is a cross-sectional drawing of the elbow actuator of FIG. 6a ,wherein the actuator is inflated.

FIG. 7 is a perspective drawing of an embodiment of a shoulder actuatorpositioned on the shoulder of a user.

FIG. 8a is an exemplary perspective drawing illustrating anotherembodiment of the shoulder actuator of FIG. 7.

FIG. 8b is an exemplary perspective drawing illustrating the actuator ofFIGS. 7 and 8 a, where a portion of the actuator is deflated and aportion is inflated.

FIG. 9 is a cross-sectional drawing of another embodiment of an elbowactuator.

FIG. 10a is an exemplary front-view of an exomuscle leg-unit worn by auser and illustrating another embodiment of a pneumatic exomusclesystem.

FIG. 10b is an exemplary close-up front-view of the exomuscle leg-unitof FIG. 10 a.

FIG. 11 is an exemplary side-view of the exomuscle leg-unit of FIGS. 10aand 10b , wherein the user's leg is bent.

FIG. 12 is an exemplary perspective view of another embodiment of anactuator that comprises a reinforcing structure.

FIGS. 13a, 13b, 14a and 14b are perspective views of embodiments ofactuators that include two or three dimensional shapes to provideresistance to buckling in undesired manners when the actuator is exposedto a load.

FIG. 15 is a block diagram of an embodiment of an exomuscle system thatincludes a control module that is operably connected to a pneumaticmodule.

FIG. 16 illustrates a planar material that is inextensible along one ormore plane axes of the planar material while being flexible in otherdirections.

It should be noted that the figures are not drawn to scale and thatelements of similar structures or functions are generally represented bylike reference numerals for illustrative purposes throughout thefigures. It also should be noted that the figures are only intended tofacilitate the description of the preferred embodiments. The figures donot illustrate every aspect of the described embodiments and do notlimit the scope of the present disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Since currently-available powered exoskeleton systems are deficient, anexomuscle system that provides lightweight and ergonomic actuation ofthe body can prove desirable and provide a basis for a wide range ofapplications, such as a system that is wearable under conventionalclothing, a system that is soft and pliable, a system that provides forthe complex translational and rotational movements of the human body,and/or a system that can be worn comfortably while in use and while notin use. This result can be achieved, according to one embodimentdisclosed herein, by an exomuscle system 100 as illustrated in FIG. 1.

Turning to FIG. 1, one embodiment 100A of a pneumatic exomuscle system100 is shown as comprising a plurality of actuators 110 disposed atlocations of a shirt 120 that is being word by a user 101. Ashoulder-actuator 110S is shown positioned over the shoulder 105 of theuser 101. An elbow-actuator 110E is shown positioned over the elbow 103of the user 101. A wrist-actuator 110W is shown positioned over thewrist 104 of the user 101.

Similarly, FIG. 2 illustrates another embodiment 100B of a pneumaticexomuscle system 100 that is shown comprising a plurality of actuators110 disposed at locations on leggings 220 that are being worn on thelegs 201 of a user 101. An anterior knee-actuator 110KA and posteriorknee-actuator 110KP are shown positioned on respective anterior 202A andposterior 202P sides of the knee 202 of the user 101. An anteriorhip-actuator 110HA and posterior hip-actuator 110HP are shown positionedon respective anterior 203A and posterior 203P sides of the hip 203 ofthe user 101.

Although FIGS. 1 and 2 illustrate separate top and bottom suits 100A,100B, in various embodiments the pneumatic exomuscle system 100 can beconfigured to cover the entire body of a user 101 or portions of thebody a user 101. For example, the pneumatic exomuscle system 100 can beembodied in a complete body suit, an arm sleeve, a leg sleeve, a glove,a sock, or the like. Additionally, although actuators 110 are depictedbeing positioned over the elbow 103, wrist 104, shoulder 105, knee 202,hip 203 and ankle 204, any one or more of these actuators 110 can beabsent and/or additional actuators 110 can be present in any othersuitable location. For example, actuators 110 can be present on hands,feet, neck, torso, or the like.

Furthermore, the present disclosure discusses various embodiments of thepneumatic exomuscle system 100 being worn by a human user 101, but infurther embodiments, the pneumatic exomuscle system 100 can be adaptedfor use by non-human users (e.g., animals) or adapted for non-livingdevices such as robots or the like. For example, one embodiment includesthe use of the pneumatic exomuscle system 100 and/or one or moreactuator 110 in a robotic arm not worn on the body 101, which is alsoknown as a robotic manipulator.

FIGS. 3a and 3b are exemplary perspective drawings illustrating anembodiment of an actuator 110 in an inflated state (FIG. 3a ) anddeflated state (FIG. 3b ). The actuator 110 comprises a body 305 havingside edges 308A, 308B; top and bottom ends 309A, 309B; and an externalface 306 and internal face 307. The body 305 is defined by an array ofchambers 310 that extend between the sides 308A, 308B. The chambers 310are coupled together at a plurality of seams 312 between respectivechambers 310, and the seams 312 can also separate an internal cavity(not shown in FIG. 3a or 3 b) of each chamber 310.

In various embodiments the chambers 310 can be selectively inflated anddeflated to change the shape of the actuator 110. For example, as shownin FIG. 3a , the chambers can be inflated with a fluid, which can causethe actuator 110 to curl inward to deepen an internal cavity 320 definedby the internal face 307 of the body 305. In contrast, as illustrated inFIG. 3b , when the actuator 110 is deflated, the actuator 110 can assumea flatter configuration compared to the curled configuration when theactuator 110 is inflated as shown in FIG. 3a . Accordingly, as shown inFIG. 3b , the cavity 320 can be more shallow when the actuator 110 isdeflated compared to the deeper cavity 320 generated when the actuatoris inflated as illustrated in FIG. 3 a.

In various embodiments, fluid can be introduced and/or exit from thechambers 310 of the actuator 110 via one or more pneumatic line 330. Insome embodiments, an actuator 110 can be configured to inflate and/ordeflate as a unit (e.g., all chambers 310 of the actuator 110 inflateand/or deflate in concert. However, in some embodiments, chambers 310can be controlled individually and/or as a group.

For example, as illustrated in FIGS. 4a and 4b different groups ofchambers 310 can be selectively inflated or deflated. As shown in FIG.4a , the chambers 310 of the actuator 110 can be inflated and expandabout axis X to define cavity 320. However, as shown in FIG. 4b , afirst portion 410 of the actuator 110 can be deflated (shown incontinuous lines), whereas a second portion 420 of the actuator canremain inflated (shown in dashed lines). In various embodiments, groupsand/or individual chambers 310 of an actuator 110 can be inflated and/ordeflated in any suitable pattern or configuration. For example, althoughFIG. 4b shows the first deflated portion 410 of the actuator being a setof chambers 310 that are contiguously grouped together, in someembodiments, non-contiguous chambers 310 can be inflated and/or deflatedas a group. In one example, every odd chamber 310 can be inflated withevery even chamber 310 being deflated.

In one preferred embodiment, the actuators 110 can be inflated with air;however, in further embodiments, any suitable fluid can be used toinflate the chambers 310. For example, gasses including oxygen, helium,nitrogen, and/or argon, or the like can be used to inflate and/ordeflate the chambers 310. In further embodiments, a liquid such aswater, an oil, or the like can be used to inflate the chambers 310.

Actuators 110 can be made of any suitable material. For example, in someembodiments, actuators 110 can comprise a flexible sheet material suchas woven nylon, rubber, polychloroprene, a plastic, latex, a fabric, orthe like. Accordingly, in some embodiments, actuators 110 can be made ofa planar material that is inextensible along one or more plane axes ofthe planar material while being flexible in other directions. Forexample, FIG. 16 illustrates a side view of a planar material 1600(e.g., a fabric) that is inextensible along axis X that is coincidentwith the plane of the material 1600, yet flexible in other directions,including axis Z. In the example of FIG. 16, the material 1600 is shownflexing upward and downward along axis Y while being inextensible alongaxis X. In various embodiments, the material 1600 can also beinextensible along an axis Y (not shown) that is also coincident withthe plane of the material 1600 like axis X and perpendicular to axis X.

In various embodiments, one or more inextensible axis of a planarmaterial can be configured to be aligned with various axes of a userwearing an actuator 110 and/or of the actuator 110. For example,referring to FIGS. 4a and 4b , an inextensible axis of a planar materialcan be configured to be disposed perpendicular to axis X. In anotherexample, an inextensible axis of a planar material can be configured tobe disposed parallel to the axis of a limb of a user.

In some embodiments, the actuator can be made of a non-planar wovenmaterial that is inextensible along one or more axes of the material.For example, in one embodiment the actuator can be made of a wovenfabric tube. The woven fabric material provides inextensibility alongthe length of the actuator and in the circumferential direction. Thisembodiment is still able to be configured along the body of the user toalign with the axis of a desired joint on the body.

In various embodiments, the actuator can develop its resulting force byusing a constrained internal surface length and/or external surfacelength that are a constrained distance away from each other (e.g. due toan inextensible material as discussed above). In some examples, such adesign can allow the actuator to contract on itself, but whenpressurized to a certain threshold, the actuator must direct the forcesaxially by pressing on the end faces of the actuator because there is noability for the actuator to expand further in volume otherwise due tobeing unable to extend its length past a maximum length defined by thebody of the actuator.

In some embodiments, bladders can be disposed within the chambers 310and/or the chambers 310 can comprise a material that is capable ofholding a desired fluid. The actuators 110 can comprise a flexible,elastic or deformable material that is operable to expand and contractwhen the chambers 310 are inflated or deflated as described herein. Insome embodiments, the actuators 110 can be biased toward a deflatedconfiguration such that the actuator 110 is elastic and tends to returnto the deflated configuration when not inflated. Additionally, althoughactuators 110 shown herein are configured to expand and/or extend wheninflated with fluid, in some embodiments, actuators 110 can beconfigured to shorten and/or retract when inflated with fluid.

In various embodiments, actuators can be configured to surround a jointof a user 101 and have an axis of rotation that is coincident with theaxis of rotation of the joint. For example, FIG. 5a is a cross-sectionillustration of a leg 201 of a user 101, which has an anteriorknee-actuator 110KA positioned over the knee 202 of the user. As shownin the cross-section, the knee joint 510 is defined by the junction ofthe femur 502 and tibia 503, which provides an axis of rotation 510 forthe knee joint 202.

In various embodiments, it can be beneficial to have the actuator 110KAinflate and curl about an axis that is coincident with the axis ofrotation 510 of the knee joint 202. For example, as shown in FIG. 5a ,each of the seams 312 that define the boundaries can have an axis R thatintersects the axis of the other seams 312 substantially at the axis ofrotation 510 for the knee joint 202. In other words, the actuator 110KAincludes a plurality of chambers 310 that are coupled to each other viaa plurality of respective seams 312, which define an axis of rotationthat is coincident the axis of rotation 510 for the knee joint 202. Forexample, chamber 310 ₁ is bounded by seams 312 ₁ and 312 ₂, which haverespective axes R₁ and R₂. Similarly, chamber 310 ₂ is bounded by seams312 ₂ and 312 ₃, which have respective axes R₂ and R₃. In this example,axes R₁, R₂ and R₃ intersect at the axis of rotation 510 for the kneejoint 202.

In various embodiments, axes R can be defined by a plane of material, orthe like that defines the seam 312. In further embodiments, the materialof the seam 312 need not be coincident with such as axis R, and such anaxis R can be defined by movement and/or expansion characteristics ofthe actuator 110.

Similarly, FIGS. 6a and 6b illustrate a cross-section of anelbow-actuator 110E positioned over an elbow 103 of a user 101. Theelbow joint 103 includes the humerus 601 that extends from the shoulder105 (shown in FIG. 1), which couples with the ulna 603 and radius (notshown in FIG. 6a or 6 b) to define an axis of rotation 610. Much likethe anterior knee actuator 110KA discussed above, the elbow-actuator110E includes a plurality of chambers 310 that are coupled to each othervia a plurality of respective seams 312, which define an axis ofrotation that is coincident with the axis of rotation 610 for the elbowjoint 103. For example, chamber 310 ₁ is bounded by seams 312 ₁ and 312₂, which have respective axes R₁ and R₂. Similarly, chamber 310 ₂ isbounded by seams 312 ₂ and 312 ₃, which have respective axes R₂ and R₃.In this example, axes R₁, R₂ and R₃ intersect at the axis of rotation510 for the knee joint 202.

FIG. 6a illustrates the elbow-actuator 110E in a deflated configurationP1 and FIG. 6b illustrates the elbow-actuator 110E in an inflatedconfiguration P2. In the deflated configuration P1 the arm 102 isstraight, whereas the arm 102 is bent in the inflated configuration P2.However, as shown in FIGS. 6a and 6b the axis of rotation of theelbow-actuator 110E remains coincident with the axis of rotation 610 ofthe elbow joint 103 of the arm 102. This can be beneficial in variousembodiments because having a coincident axis of rotation 610 can resultin more natural movement that is not stressful on the joint 103 as theelbow-actuator 110E actuates the arm 102. FIG. 9 illustrates analternative embodiment of an elbow actuator 110E.

Additionally, in some embodiments, the example actuators 110 illustratedin FIGS. 3a, 3b, 4a, 4b , can provide for both translational androtational movement of the human body 101. Furthermore, in variousembodiments, forces between the body 101 and the system 100 can bespread out over a greater surface area (e.g., a plurality of actuators110, and the like), which allows more work to be done by the exomusclesystem 100 compared to other systems with less surface area contactbetween the system and user 101.

As discussed above, the example actuators 110 illustrated in FIGS. 3a,3b, 4a, 4b , can be adapted to various body joints in addition to theknee 202 and elbow 103. Such actuators 110 can also be adapted to bepositioned on the front and/or back (anterior and/or posterior) ofvarious body joints to provide for flexion and/or extension, abductionand/or adduction, or the like. In some embodiments, actuators 110 can beconfigured to be single-direction actuators 110 and actuators 110 can beposition antagonistically. For example, as shown in FIG. 1, the anteriorknee-actuator 110KA can be antagonistic to the posterior knee-actuator110KP such that the leg 201 flexes from an extended configuration to abent configuration where the anterior knee-actuator 110KA expands toantagonistically compress the posterior knee-actuator 110KP. Similarly,the leg 201 can extend from a bent configuration to a straightconfiguration where the posterior knee-actuator 110KP expands toantagonistically compress the anterior knee-actuator 110KA. Accordingly,in various embodiments, the example actuators 110 illustrated in FIGS.3a, 3b, 4a, 4b , can be beneficial for actuating joints with one degreeof freedom.

In contrast, FIG. 7 illustrates an example of another embodiment of anactuator 110 positioned on the shoulder 105 of a user 101. Such anembodiment of a shoulder-actuator 110S can be configured to provide atleast two degrees of freedom to the arm 102 of the user 101. Forexample, as shown in FIGS. 7, 8 a and 8 b the shoulder-actuator 110S caninclude three columns of chambers 810 (labeled A, B and C respectively).In the example shoulder-actuator 110S of FIGS. 7, 8 a and 8 b, a centralcolumn A of chambers 810A is disposed between outer columns B, C ofchambers 810B, 810C. The central column A is shown as comprising alinear stack of diamond-shaped chambers 810A, with outer chambers 810B,810C being interleaved between chambers 810A of the central column A.Outer chambers 810B, 810C are shown having an angular portion 811 thatcorresponds to the diamond-shaped central chambers 810A, and a roundedportion 812 that defines respective edges 808 of the actuator 110.

In various embodiments, each of the columns A, B, C can be independentlycontrolled. In other words, each of the columns A, B, C can beseparately and selectively inflated and/or deflated. For example, FIG.8b illustrates a configuration of the shoulder-actuator 110S, whereinthe B-column is deflated, and the C-column is inflated. In such aconfiguration, the shoulder-actuator 110S bends inward toward deflatedB-column, which would accordingly move the shoulder 105 and arm 102 inthis direction.

Similarly, if the B-column is inflated, and the C-column is deflated,(not illustrated) the shoulder-actuator 110S would bend inward towarddeflated C-column, which would accordingly move the shoulder 105 and arm102 in this direction. Accordingly, by selectively inflating and/ordeflating the outer columns B, C. The shoulder-actuator 110S can move ashoulder 105 and arm 102 from side-to-side in various embodiments (i.e.,flexion and extension).

Additionally, the shoulder-actuator 110S can provide for moving the arm105 up and down (i.e., abduction and adduction). For example, where theA-column is deflated the length L (shown in FIG. 8a ) of theshoulder-actuator 110S is shortened and where the A-column is inflatedthe length L of the shoulder-actuator 110S is increased. Accordingly,deflation of the center-column A, can cause raising of the arm 102(i.e., abduction) and inflation of the center-column A, can causelowering of the arm 102.

Therefore, by varying the inflation and/or deflation of the columns A,B, C, the shoulder-actuator 110S can generate motion of the arm 102about the shoulder 105 that mimics natural shoulder motions of a user101. For example, the table below illustrates some example, armconfigurations that can be generated by different inflation/deflationconfigurations of the shoulder-actuator 110S in accordance with someembodiments.

Column A Column B State State Column C State Arm State Deflated DeflatedDeflated Raised, At Median Deflated Inflated Deflated Raised, TowardAnterior Deflated Deflated Inflated Raised, Toward Posterior InflatedInflated Inflated Lowered, At Median Inflated Inflated Deflated Lowered,Toward Anterior Inflated Deflated Inflated Lowered, Toward Posterior

Accordingly, in various embodiments, the example shoulder-actuator 110Scan mimic the deltoid muscles of a shoulder 105. For example, in someembodiments, the B-column can be analogous to the posterior deltoid, theA-column can be analogous to the lateral deltoid, and the C-column canbe analogous to the anterior deltoid.

Although one example embodiment of a shoulder-actuator 110S is disclosedin FIGS. 7, 8 a and 8 b, this example embodiment should not be construedto be limiting on the numerous variations and alternative embodimentsthat are within the scope and spirit of the present invention. Forexample, in some embodiments, there can be any suitable plurality ofcolumns, including less than three or more than three. Additionally, theshape, size and proportions of the chambers 810 can be any suitableconfiguration and can be regular or irregular. For example, in oneembodiment, the size of the chambers decreases from the top end to thebottom end.

In some embodiments, an exomuscle system 100 can comprise structuralsupportive elements. For example, FIGS. 10a, 10b and 11 illustrate anembodiment 100C of an exomuscle system 100 that comprises an anteriorknee actuator 110KA, posterior knee-actuator 110KP (shown in FIG. 11)with a plurality of upper supports 1010 that extend from and above theknee-actuators 110KA, 110KP, and a plurality of lower supports 1020extending from and below the knee-actuators 110KA, 110KP. The lowersupports 1020 are secured to the ankle 204 of the user 101 via a strap1030 (shown in FIG. 11).

In various embodiments, the upper and lower supports 1010, 1020 areconfigured to be anisotropic support structures that carry a body loadin the axial direction, while also providing for torsional movement. Inother words, the supports 1010, 1020 are configured to be stiff andsupportive in a vertical direction while also allowing turning andbending of the leg 102. For example, as shown in FIG. 11, the user 101is able to bend his knee 202 while the supports 1010, 1020 also providevertical support when the leg 102 is in a straight configuration. Thismay be beneficial because axial support provided by the supports 1010,1020 provides load-bearing to the user 101 while walking or standing,while also allowing for the bending and rotating of the legs duringwalking or kneeling (as shown in FIG. 11).

In some embodiments, the supports 1010, 1020 can comprise fluid filledor inflated cavities. In further embodiments, the supports can compriseany suitable ridged, flexible, or deformable material. The supports1010, 1020 can be statically or dynamically inflated in someembodiments. Additionally, while example supports 1010, 1020 are shownbeing associated with an exomuscle system 100 associated with the legs102 of a user 101, in further embodiments, supports or similarstructures can be configured to be associated with other parts of userbody 101, including the arms 102 (See FIG. 1), elbow 103, wrist 104,shoulder 105, or the like.

Supports, and the like, can provide for various applications of anexomuscle system 100, including transferring loads to the ground andrelieving such a burden on the user 101. For example, for a user 101with a weak or disabled muscular system, the load of the user's body 101can be transferred to supports of the exomuscle system 100. In anotherexample, where a user 101 is carrying a load in his arms 102, in abackpack, or the like, such a load can be transferred to supports of theexomuscle system 100 to reduce the burden on the user 101. Such loadtransfer and burden reduction can be beneficial in extending the workingendurance and capacity of disabled, partially-abled, less-abled, andfully-abled users 101.

For example, in one embodiment, a soldier carrying supplies can walk foran extended period of time and over a greater distance if the load ofthe supplies is transferred to an exomuscle system 100. Similarly, awarehouse worker can have greater endurance moving boxes, or the like,if such a load is transferred to an exomuscle system 100.

Turning to FIG. 12, in a further embodiment 110F, an actuator 110 cancomprise one or more reinforcing structure 1220. In various embodiments,it can be beneficial to design an actuator 110 such that it usesanisotropic material selections to reinforce the actuator 110 againstvarious types of failure modes. For example, as illustrated in FIG. 12the actuator 110 includes a reinforcing structure 1220 that is coupledon and extends from a first end 309A of the actuator 110 and over a loadtransfer segment 1205A that also extends from the first end 309A.

In various embodiments, one or more reinforcing structure 1220 canprovide resistance to buckling of the actuator 110 as the actuator 110is inflated and/or deflated. For example, in the embodiment 110F of FIG.12, the inflatable/deflateable portion 110 is sufficiently strong as ithas curvature in two axes, but a load transfer segment 1205 is not ableto provide two axes of curvature as it lies along a body segment of theuser 101 such as the thigh, or the like. In this case, a reinforcementstructure 1220 can be placed at the interface of the actuator 110 andthe load transfer segments 1205A, 1205B to resist the concentratedbuckling moments transferred by the actuator 110. Reinforcing structures1220 can comprise any suitable material, including a rigid material suchas plastic, metal, or the like. In some embodiments, the reinforcingstructures 1220 need only be more rigid than the actuator 110 in atleast one axis.

In various embodiments, a reinforcing structure 1220 can be designed toallow for compliance in all axes other than the axis of buckling thatthe reinforcement is trying to reinforce. For example, in the embodiment110F of FIG. 12, reinforcing structure 1220 can be compliant towardsmoments along the length wise axis but stiff to buckling moments alongthe axis of rotation. In other embodiments, a reinforcing structure 1220can be designed to stiffen the actuator portion 110 to avoiddeformations such as resistance to a catastrophic buckling mode that maybe present in the center of long actuators 110 or cyclic planardeformations that may be present in actuators 110 that are lackingsufficient attachment points to the human operator 101.

Additionally, although the reinforcing structure 1220 is shown as beinga flat curved rectangular piece that extends from an end 309A of theactuator 110, in further embodiments, a reinforcing structure 1220 cancomprise rib structures on a portion of the actuation 110, a reinforcingstructure that extends lengthwise about and/or from the actuator 110, orthe like.

Turning to FIGS. 13a, 13b, 14a and 14b , in further embodiments it canbe beneficial to design an actuator 110 such that it uses various two orthree dimensional shapes to provide resistance to buckling in undesiredmanners when the actuator 110 is exposed to a load. One embodiment canintroduce a single axis of curvature to the surface structure of theactuator such that the axis of curvature is aligned with the axis ofrotation of the actuator as shown in FIG. 13a . Similarly, anotherembodiment can introduce a single axis of curvature to the surfacestructure such that the axis of curvature is not aligned with the axisof rotation as shown in FIG. 13b . A further embodiment introducesadditional axes of curvature to further strengthen the actuator towardsunintended buckling by including two axes of curvature that lie on thesame side of the actuator body as shown in FIG. 14a . A specificinstance of this embodiment can include two axes of rotationintersecting with the same radius of curvature, such that the actuator110 forms the surface segment of a sphere. Yet another embodiment of theinvention includes additional axes of curvature to the surface of thefabric structure that do not lie on the same side of the actuator. Aspecific instance of this embodiment involves the two axes beingperpendicular to each other thereby creating a saddle structure with thesurface of the actuator as shown in FIG. 14 b.

FIG. 15 is a block diagram of an embodiment 100D of an exomuscle system100 that includes a control module 1510 that is operably connected to apneumatic module 1520. The control module 1510 comprises a processor1511, a memory 1512, and at least one sensor 1513. A plurality ofactuators 110 are operably coupled to the pneumatic module 1520 viarespective pneumatic lines 330. The plurality of actuators 110 includepairs of shoulder-actuators 110S, elbow-actuators 110E, anteriorknee-actuators 110KA, and posterior knee-actuators 110KP that arepositioned on the right and left side of a body 101. For example, asdiscussed above, the example exomuscle system 100D shown in FIG. 15 canbe part of top and/or bottom suits 100A, 100B (shown in FIGS. 1 and 2),with the actuators 110 positioned on respective parts of the body 101 asdiscussed herein. For example, the shoulder-actuators 110S can bepositioned on left and right shoulders 105; elbow-actuators 110E can bepositioned on left and right elbows 103; and anterior and posteriorknee-actuators 110KA, 110KP can be positioned on the knee anterior andposterior 202A, 202P.

In various embodiments, the example system 100D can be configured tomove and/or enhance movement of the user 101 wearing the exomusclesystem 100D. For example, the control module 1510 can provideinstructions to the pneumatic module 1520, which can selectively inflateand/or deflate the actuators 110. Such selective inflation and/ordeflation of the actuators 110 can move the body to generate and/oraugment body motions such as walking, running, jumping, climbing,lifting, throwing, squatting, or the like.

In some embodiments, such movements can be controlled and/or programmedby the user 101 that is wearing the exomuscle system 100D or by anotherperson. Movements can be controlled in real-time by a controller,joystick or thought control. Additionally, various movements canpre-preprogrammed and selectively triggered (e.g., walk forward, sit,crouch) instead of being completely controlled. In some embodiments,movements can be controlled by generalized instructions (e.g. walk frompoint A to point B, pick up box from shelf A and move to shelf B).

In further embodiments, the exomuscle system 100D can be controlled bymovement of the use 101. For example, the control module 1510 can sensethat the user 101 is walking and carrying a load and can provided apowered assist to the user 101 via the actuators 110 to reduce theexertion associated with the load and walking. Accordingly, in variousembodiments, the exomuscle system 100D can react automatically withoutdirect user interaction.

In some embodiments the sensors 1513 can include any suitable type ofsensor, and the sensors 1513 can be located at a central location or canbe distributed about the exomuscle system 100D. For example, in someembodiments, the system 100D can comprise a plurality of accelerometers,force sensors, position sensors, and the like, at various suitablepositions, including at the actuators 110 or any other body location. Insome embodiments, the system 100D can include a global positioningsystem (GPS), camera, range sensing system, environmental sensors, orthe like.

The pneumatic module 1520 can comprise any suitable device or systemthat is operable to inflate and/or deflate the actuators 110. Forexample, in one embodiment, the pneumatic module can comprise adiaphragm compressor as disclosed in co-pending related patentapplication Ser. No. 14/577,817 filed Dec. 19, 2014, which claims thebenefit of U.S. Provisional Application No. 61/918,578, filed Dec. 19,2013.

The described embodiments are susceptible to various modifications andalternative forms, and specific examples thereof have been shown by wayof example in the drawings and are herein described in detail. It shouldbe understood, however, that the described embodiments are not to belimited to the particular forms or methods disclosed, but to thecontrary, the present disclosure is to cover all modifications,equivalents, and alternatives.

What is claimed is:
 1. A pneumatic exomuscle system comprising: apneumatic module; a plurality of pneumatic actuators each comprising oneor more inflatable chambers operably coupled to the pneumatic module viaat least one pneumatic line, a portion of the pneumatic actuatorsconfigured to be worn about respective body joints of a user, the one ormore inflatable chambers defined by a body that is inextensible alongone or more plane axes of the body while being flexible in otherdirections; and a control module operably coupled to the pneumaticmodule, the control module configured to control the pneumatic module toselectively inflate portions of the pneumatic actuators.
 2. Thepneumatic exomuscle system of claim 1, wherein the pneumatic actuatorsare disposed on at least one of a top-suit portion and bottom-suitportion configured to be worn by the user.
 3. The pneumatic exomusclesystem of claim 2, wherein pneumatic actuators are disposed on atop-suit portion such that pneumatic actuators are configured to bedisposed over shoulders and anterior and posterior elbow regions whenthe top-suit portion is worn by the user.
 4. The pneumatic exomusclesystem of claim 2, wherein pneumatic actuators are disposed on abottom-suit portion such that pneumatic actuators are configured to bedisposed over anterior and posterior knee regions when the bottom-suitportion is worn by the user.
 5. The pneumatic exomuscle system of claim1, wherein at least one pneumatic actuator comprises a plurality ofelongated inflatable chambers stacked lengthwise in an array from atop-end to a bottom-end.
 6. The pneumatic exomuscle system of claim 5,wherein a portion of the inflatable chambers are configured to besimultaneously inflated as a group; and wherein said at least onepneumatic actuator is configured to curl inward about an internal faceof the pneumatic actuator.
 7. The pneumatic exomuscle system of claim 6,wherein said at least one pneumatic actuator is configured to curl aboutan axis that is coincident with an axis of rotation of a body joint,when said at least one pneumatic actuator is worn over the body joint.8. The pneumatic exomuscle system of claim 1, wherein at least onepneumatic actuator comprises a plurality of inflatable chambers stackedin an array from a top-end to a bottom end, the chambers defining afirst, second and third column, with each column defined by a set ofinflatable chambers that are configured to be selectively inflatable asa group, and wherein each column is separately selectively inflatablefrom other of the columns.
 9. The pneumatic exomuscle system of claim 8,wherein said at least one pneumatic actuator is disposed on a top-suitportion such that said at least one pneumatic actuator is disposed overa shoulder of the user, when the top-suit is worn by the user.
 10. Thepneumatic exomuscle system of claim 1, further comprising a plurality ofanisotropic support structures configured to extend about a limb of theuser and carry a load in a first direction, while providing fortorsional movement in at least one second direction when worn by theuser.
 11. The pneumatic exomuscle system of claim 10, wherein theplurality of anisotropic support structures are operably connected tothe pneumatic system via at least one pneumatic line.
 12. The pneumaticexomuscle system of claim 1, wherein said pneumatic actuators comprise awoven fabric.
 13. The pneumatic exomuscle system of claim 1, wherein thecontrol module is configured to control the pneumatic module toselectively inflate portions of the pneumatic actuators to induce bodymovements in the user.
 14. The pneumatic exomuscle system of claim 1,wherein the control module is configured to sense body movements of theuser and control the pneumatic module to selectively inflate portions ofthe pneumatic actuators to support said body movements of the user. 15.The pneumatic exomuscle system of claim 1, wherein a pneumatic actuatorcomprises a reinforcing structure configured to resist a concentratedbuckling moment transferred by the pneumatic actuator during movement ofthe pneumatic actuator.
 16. The pneumatic exomuscle system of claim 1,wherein a pneumatic actuator defines a two or three dimensional shapeconfigured to provide resistance to buckling of the pneumatic actuatorduring inflation of the pneumatic actuator.
 17. The pneumatic exomusclesystem of claim 1, wherein the body that is inextensible along one ormore plane axes of the body while being flexible in other directionscomprises a planar fabric.
 18. The pneumatic exomuscle system of claim1, wherein the one or more inflatable chambers are defined by one ormore a tubes that are inextensible along one or more axes of the tubeswhile being flexible in other directions.
 19. A pneumatic actuatorcomprising a plurality of elongated inflatable chambers stackedlengthwise in an array from a top-end to a bottom end, the plurality ofelongated inflatable chambers defined by a body that is inextensiblealong one or more plane axes of the body while being flexible in otherdirections.
 20. The pneumatic actuator of claim 19, wherein a portion ofthe inflatable chambers are configured to be simultaneously inflated asa group; wherein the pneumatic actuator is configured to curl inwardabout an internal face of the pneumatic actuator; and wherein thepneumatic actuator is configured to curl about an axis that iscoincident with an axis of rotation of a body joint, when said pneumaticactuator is worn over the body joint.
 21. The pneumatic actuator ofclaim 19, wherein the plurality of elongated inflatable chambers stackedlengthwise along a first axis in an array from the top-end to the bottomend, the length of the plurality of elongated inflatable chambersdefining the first axis, the array configured to couple about a limb ofa user at a joint of the limb, the limb extending along a second axisperpendicular to the first axis when the limb is in a straightenedconfiguration.